version: 66.13
glider: 137
mission: 5
dive: 84
start: 3 19 117 15 19 49
data:
$ID,137
$MISSION,5
$DIVE,84
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,450
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034
$HD_B,0.0082
$HD_C,4.2000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,573.99261
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,8
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.34626
$PRESSURE_SLOPE,0.0001160319
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,190317,151108,1403.4545,6100.2329,22,0.8,32,-0.6,0.0,0.0,10,8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-67.6
$GPS2,190317,151915,1403.4415,6100.2197,6,0.8,17,-0.6,0.0,260.0,10,9.6
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1406.201,6103.428
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,49.6,7703,-16.6,-10.000,-19.21,2243
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.28,-146.0,97,2072,332,564,0.0,0.0,0,109,0.00,0.00,-99.55,0.000,16386,0.000,0.000,97,2073,3133,3050,3217,0,0,0,0,0,0,14.88,28.83,14.91
$GC,112,-1.28,-146.0,97,2073,3050,3217,4.7,-6.9,17,138,14.45,2.50,-4.47,0.000,18724,0.441,2.113,2882,3432,3387,3284,3491,0,0,0,0,0,0,14.43,13.75,14.71
$GC,185,-1.28,-146.0,2882,3432,3284,3492,23.3,-16.3,30,192,0.00,2.33,0.00,0.000,1030,0.000,0.044,2882,2038,3388,3284,3492,0,0,0,0,0,0,14.73,14.67,14.76
$GC,495,-1.25,-146.0,2882,2037,3284,3492,70.0,-14.8,78,499,0.00,2.30,0.00,0.000,644,0.000,0.059,2882,640,3388,3284,3492,0,0,0,0,0,0,15.00,14.76,15.02
$GC,576,-1.25,-146.0,2882,640,3285,3492,82.5,-14.8,94,585,0.12,2.28,0.00,0.000,3078,0.278,0.041,2898,2039,3388,3284,3492,0,0,0,0,0,0,14.66,14.81,14.83
$GC,886,-1.28,-146.0,2898,2038,3284,3492,122.4,-11.1,126,887,0.00,0.00,0.00,0.000,134,0.000,0.000,2898,2038,3388,3285,3492,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1186,-1.35,-146.0,2898,2038,3285,3492,155.9,-11.3,156,1196,0.00,2.33,0.00,0.000,644,0.000,0.059,2899,644,3388,3285,3492,0,0,0,0,0,0,15.10,14.86,15.11
$GC,1238,-1.42,-146.0,2898,644,3285,3492,161.6,-10.8,166,1243,0.10,2.28,0.00,0.000,5254,0.158,0.040,2849,2053,3388,3285,3492,0,0,0,0,0,0,14.86,14.89,14.94
$GC,1550,-1.42,-146.0,2848,2054,3285,3492,197.3,-11.3,198,1559,0.00,2.35,0.00,0.000,516,0.000,0.060,2849,643,3388,3285,3492,0,0,0,0,0,0,15.12,14.88,15.14
$GC,1574,-1.42,-146.0,2848,643,3285,3492,200.3,-11.2,203,1583,0.12,2.28,0.00,0.000,3078,0.258,0.041,2865,2052,3388,3285,3492,0,0,0,0,0,0,14.77,14.90,14.93
$GC,1883,-1.49,-146.0,2865,2053,3285,3491,229.6,-10.2,234,1887,0.00,2.30,0.00,0.000,388,0.000,0.063,2856,3446,3388,3285,3492,0,0,0,0,0,0,15.11,14.89,15.12
$GC,1930,-1.57,-146.0,2856,3446,3285,3492,234.3,-10.1,242,1935,0.10,2.28,0.00,0.000,5254,0.152,0.041,2815,2041,3388,3285,3491,0,0,0,0,0,0,14.90,14.92,14.97
$GC,2264,-1.57,-146.0,2815,2041,3285,3492,281.9,-14.5,262,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2040,3388,3285,3492,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2563,-1.57,-146.0,2815,2040,3285,3492,324.7,-14.1,272,2570,0.00,2.30,0.00,0.000,516,0.000,0.062,2815,648,3388,3285,3492,0,0,0,0,0,0,15.12,14.91,15.15
$GC,2593,-1.54,-146.0,2815,648,3285,3492,329.3,-15.6,277,2602,0.15,2.28,0.00,0.000,3206,0.253,0.044,2839,2050,3388,3285,3491,0,0,0,0,0,0,14.81,14.93,14.96
$GC,2898,-1.59,-146.0,2839,2050,3284,3491,363.3,-10.3,288,2905,0.00,2.35,0.00,0.000,644,0.000,0.066,2839,655,3388,3284,3492,0,0,0,0,0,0,15.14,14.91,15.16
$GC,2967,-1.59,-146.0,2839,655,3284,3491,370.6,-10.3,301,2973,0.00,2.28,0.00,0.000,1030,0.000,0.046,2831,2047,3387,3283,3491,0,0,0,0,0,0,15.00,14.92,15.02
$GC,3296,-1.59,-146.0,2830,2046,3283,3492,402.5,-9.7,316,3303,0.00,2.35,0.00,0.000,548,0.000,0.066,2831,657,3387,3282,3492,0,0,0,0,0,0,15.14,14.91,15.16
$GC,3346,-1.59,-146.0,2830,656,3282,3491,408.0,-11.0,325,3352,0.00,2.30,0.00,0.000,1030,0.000,0.047,2821,2060,3386,3281,3491,0,0,0,0,0,0,15.00,14.93,15.02
$GC,3665,-1.59,-146.0,2821,2060,3279,3490,441.9,-10.7,338,3669,0.00,2.38,0.00,0.000,516,0.000,0.066,2821,657,3384,3279,3490,0,0,0,0,0,0,15.14,14.91,15.16
$GC,3739,-1.59,-146.0,2820,657,3279,3490,450.5,-11.2,352,3744,0.00,2.30,0.00,0.000,1030,0.000,0.047,2811,2060,3384,3278,3490,0,0,0,0,0,0,15.00,14.93,15.01
$GC,4062,-1.59,-146.0,2810,2059,3278,3487,483.7,-9.9,366,4063,0.00,0.00,0.00,0.000,38,0.000,0.000,2811,2059,3382,3277,3487,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4362,-1.59,-146.0,2810,2059,3276,3486,511.7,-9.4,376,4369,0.00,2.38,0.00,0.000,548,0.000,0.064,2811,654,3381,3276,3486,0,0,0,0,0,0,15.14,14.92,15.16
$GC,4470,-1.59,-146.0,2810,654,3274,3486,523.7,-10.6,397,4477,0.12,2.30,0.00,0.000,3078,0.253,0.044,2828,2060,3379,3274,3485,0,0,0,0,0,0,14.80,14.94,14.96
$GC,4792,-1.63,-146.0,2828,2059,3273,3483,555.9,-10.5,410,4797,0.00,2.33,0.00,0.000,388,0.000,0.069,2819,3448,3378,3273,3483,0,0,0,0,0,0,15.15,14.90,15.17
$GC,4850,-1.67,-146.0,2819,3449,3273,3482,562.8,-11.0,421,4858,0.00,2.30,0.00,0.000,1158,0.000,0.044,2820,2051,3377,3273,3482,0,0,0,0,0,0,15.00,14.93,15.02
$GC,5154,-1.67,-146.0,2819,2052,3272,3481,597.6,-11.5,432,5161,0.00,2.35,0.00,0.000,516,0.000,0.067,2820,643,3376,3272,3480,0,0,0,0,0,0,15.14,14.90,15.16
$GC,5238,-1.67,-146.0,2819,641,3271,3480,608.3,-12.6,448,5245,0.00,2.30,0.00,0.000,1030,0.000,0.043,2810,2053,3375,3271,3480,0,0,0,0,0,0,15.00,14.93,15.01
$GC,5552,-1.67,-146.0,2809,2053,3270,3479,646.5,-12.4,460,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2054,3374,3270,3479,0,0,0,0,0,0,15.13,15.16,15.15
$GC,5854,-1.67,-146.0,2809,2054,3269,3478,684.0,-12.6,470,5859,0.00,2.38,0.00,0.000,516,0.000,0.061,2810,649,3373,3269,3477,0,0,0,0,0,0,15.14,14.91,15.16
$GC,5896,-1.67,-146.0,2809,648,3268,3477,690.0,-13.6,478,5901,0.00,2.30,0.00,0.000,1030,0.000,0.047,2800,2047,3372,3268,3477,0,0,0,0,0,0,15.00,14.92,15.02
$GC,6218,-1.67,-146.0,2799,2047,3267,3477,730.2,-12.3,492,6225,0.00,2.38,0.00,0.000,260,0.000,0.072,2790,3458,3372,3267,3477,0,0,0,0,0,0,15.13,14.90,15.16
$GC,6253,-1.67,-146.0,2789,3458,3267,3476,734.3,-11.9,498,6258,0.00,2.35,0.00,0.000,1030,0.000,0.048,2789,2041,3371,3267,3476,0,0,0,0,0,0,15.00,14.92,15.01
$GC,6586,-1.67,-146.0,2789,2041,3266,3476,773.4,-11.3,514,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2040,3371,3266,3476,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6886,-1.67,-146.0,2789,2041,3266,3474,806.2,-10.8,524,6893,0.00,2.42,0.00,0.000,260,0.000,0.071,2780,3457,3369,3266,3473,0,0,0,0,0,0,15.14,14.89,15.16
$GC,6930,-1.67,-146.0,2780,3457,3265,3473,811.2,-10.6,532,6936,0.12,2.35,0.00,0.000,3078,0.252,0.048,2806,2049,3369,3266,3473,0,0,0,0,0,0,14.76,14.92,14.95
$GC,7254,-1.67,-146.0,2806,2049,3264,3473,842.6,-9.6,546,7259,0.00,2.38,0.00,0.000,548,0.000,0.071,2807,639,3368,3263,3473,0,0,0,0,0,0,15.14,14.89,15.16
$GC,7328,-1.67,-146.0,2807,639,3263,3472,850.5,-10.6,560,7333,0.00,2.35,0.00,0.000,1030,0.000,0.049,2798,2058,3367,3262,3472,0,0,0,0,0,0,14.99,14.91,15.00
$GC,7652,-1.67,-146.0,2798,2059,3262,3471,881.6,-9.6,574,7656,0.00,2.42,0.00,0.000,548,0.000,0.069,2799,637,3366,3262,3471,0,0,0,0,0,0,15.14,14.89,15.16
$GC,7699,-1.67,-146.0,2798,637,3262,3470,886.8,-10.5,583,7707,0.10,2.35,0.00,0.000,3078,0.295,0.050,2807,2058,3365,3261,3470,0,0,0,0,0,0,14.73,14.91,14.94
$GC,8021,-1.67,-146.0,2806,2059,3261,3470,916.8,-9.5,596,8022,0.00,0.00,0.00,0.000,38,0.000,0.000,2807,2059,3365,3261,3470,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8321,-1.67,-146.0,2806,2059,3260,3470,945.1,-9.5,606,8326,0.00,2.42,0.00,0.000,548,0.000,0.069,2808,639,3364,3260,3469,0,0,0,0,0,0,15.13,14.88,15.16
$GC,8365,-1.67,-146.0,2807,638,3260,3470,949.9,-9.9,614,8370,0.00,2.35,0.00,0.000,1062,0.000,0.050,2798,2053,3364,3259,3469,0,0,0,0,0,0,14.98,14.90,15.00
$GC,8688,-1.67,-146.0,2799,2053,3259,3468,982.7,-10.6,628,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2053,3364,3259,3469,0,0,0,0,0,0,15.14,15.16,15.16
$STATE,8777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8777,begin apogee
$GC,8782,-0.33,0.0,2799,1784,3259,3468,992.5,-10.7,631,8913,1.15,0.00,127.03,2.661,10246,0.270,0.000,3098,1784,2788,2675,2902,0,0,0,0,0,0,14.68,14.07,13.12
$STATE,8914,end apogee,CONTROL_FINISHED_OK
$STATE,8914,begin climb
$GC,8915,1.28,146.0,3098,1783,2671,2900,994.9,0.0,635,9057,1.23,2.53,134.20,2.591,10756,0.168,0.076,3461,409,2188,2057,2320,0,0,0,0,0,0,14.05,13.81,13.05
$GC,9083,1.08,146.0,3460,409,2047,2318,984.1,11.9,652,9088,0.20,2.45,0.00,0.000,5254,0.332,0.050,3413,1803,2182,2045,2319,0,0,0,0,0,0,14.03,14.18,14.22
$GC,9401,0.98,146.0,3413,1805,2035,2319,951.3,10.1,665,9406,0.12,2.40,0.00,0.000,4484,0.375,0.068,3381,3203,2177,2035,2319,0,0,0,0,0,0,14.42,14.60,14.59
$GC,9427,0.90,146.0,3381,3203,2034,2319,948.6,10.1,670,9434,0.00,2.40,0.00,0.000,1158,0.000,0.059,3389,1808,2177,2035,2319,0,0,0,0,0,0,14.71,14.63,14.73
$GC,9734,0.86,163.8,3389,1808,2034,2319,920.6,9.2,681,9752,0.15,0.00,15.05,2.410,12454,0.392,0.000,3364,1808,2121,1976,2266,0,0,0,0,0,0,14.54,14.59,13.64
$GC,10033,0.88,184.8,3364,1807,1964,2262,894.0,9.0,691,10063,0.00,2.53,20.05,2.428,8484,0.000,0.070,3357,3204,2029,1883,2176,0,0,0,0,0,0,14.95,14.50,13.58
$GC,10084,0.89,185.7,3357,3203,1883,2173,889.1,10.0,701,10088,0.00,2.45,0.00,0.000,1062,0.000,0.058,3366,1794,2028,1883,2173,0,0,0,0,0,0,14.60,14.53,14.62
$GC,10395,0.89,185.7,3365,1794,1879,2173,856.9,10.4,713,10400,0.00,2.45,0.00,0.000,260,0.000,0.069,3357,3210,2026,1879,2173,0,0,0,0,0,0,14.94,14.70,14.96
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$STATE,18377,end climb,SURFACE_DEPTH_REACHED
$STATE,18377,begin surface coast
$FINISH,1.3,1.004281
$STATE,18403,end surface coast,CONTROL_FINISHED_OK
$STATE,18403,begin surface
$SM_CCo,18421,107.62,0.080,0,0,450,573.99
$SM_GC,2.17,9.80,0.40,107.62,0.089,0.059,0.080,96,2073,450,-14.10,-1.02,573.99,0,0,0,0,0,0,14.78,14.86,14.74
$IRIDIUM_FIX,1356.39,6101.91,190317,151232
$TT8_MAMPS,0.023968,0.15729
$HUMID,45.94
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.30
$XPDR_PINGS,10
$24V_AH,13.05,28.533
$10V_AH,13.68,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.500,181.750,426.525,107.625,0.000,0.000,0.000,275.200,109.750,0.000,18.220,2913.820,12636.039,759.000,2531.934,180.185,0.000,2165.236,0.000,1925.769,0.000,719.427,0.000
$DEVICE_MAMPS,441.405,2112.930,2661.435,79.560,0.000,0.000,0.000,175.185,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,653.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225132
$DATA_FILE_SIZE,60019,1353
$CAP_FILE_SIZE,213016,0
$CFSIZE,260034560,252665856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040,38.01,1
$GPS,190317,202957,1405.831,6102.556,35,0.8,43,-0.6,0.0,101.3,10,9.4